Abstract: Because the traditional helicopter trajectory planning and the flight control operate independently, the cumulative errors may exist during actual flight tracking task under the uncertain disturbances, which limits its adaptability to dynamic environ-mental changes and increases the risk of collision between the actual flight path and the obstacles. To address this issue, this paper proposes a tightly-coupling tracking strategy for dynamic obstacle avoidance and flight control based on active disturb-ance rejection control (ADRC) and an improved artificial potential field method. The global path is decomposed into several sub-target points, and once completing the tracking of a single sub-target, the flight control system utilizes real-time posi-tional feedback to dynamically replan the trajectory and generate a safe path to the next sub-target. A closed-loop integral workflow of "planning–tracking–feedback–replanning" is established, which enables real-time trajectory replanning and cor-rection of tracking errors. A dimensionless performance evaluation function is formulated, and simulation task scenarios are conducted to validate the effectiveness of the tightly-coupling method. This framework provides a control architecture with high safety and strong adaptability for the helicopter to achieve assisted piloting and autonomous flight.

Key words: Helicopter, Artificial Potential Field Method, Active Disturbance Rejection Control, Real-time Obstacle Avoidance, Tightly-Coupling Strategy